#include <ros/ros.h>
#include "stair_ctrl/MotionPlan.h"

int main(int argc, char **argv)
{
    ros::init(argc, argv, "talker");
    ros::NodeHandle nh("~");
    ros::Publisher publisher = nh.advertise<stair_ctrl::MotionPlan>("vision_request", 100);

    stair_ctrl::MotionPlan request;
    request.foot_pos[0] = -0.5;
    while (ros::ok())
    {
        publisher.publish(request);
        ros::Duration(0.25).sleep();
    }

    return 0;
}